Rotational positioning device, control method and treatment system for particle accelerators

Abstract

This invention discloses a rotation positioning device, control method, and treatment system for a particle accelerator. The rotation positioning device includes at least a first guide member, a second guide member, and a clamping device connected to each other. The first guide member controls the clamping device to move along a first direction, and the second guide member controls the clamping device to move along a second direction. The clamping device clamps the particle accelerator and causes it to rotate around its central axis. The first and second directions intersect. The first and second guide members cooperate to move the particle accelerator on an arc centered on the treatment area, and the clamping device controls the rotation of the particle accelerator during its movement on the arc, ensuring that the particle accelerator's output beam always faces the treatment area. The rotation positioning device provided by this invention is simple to install, small in size, occupies less space, and is easier to operate in practical applications.

Description

Technical Field

[0001] This invention relates to the field of proton radiotherapy technology, and in particular to a rotation positioning device, control method and treatment system for a particle accelerator. Background Technology

[0002] Proton therapy is currently one of the most advanced radiotherapy technologies internationally. It uses protons to treat tumors such as cancer. Compared to traditional radiotherapy, the "Bragg peak" effect of proton therapy allows for highly precise treatment of the tumor area, while normal tissue behind the tumor receives almost no radiation dose, greatly reducing treatment side effects and resulting in better patient outcomes. Proton accelerators provide proton beams for clinical treatment, delivering proton beams with prescribed doses and three-dimensional dose distributions to the designated treatment sites on the patient.

[0003] For large medical equipment, since the weight of a medical proton accelerator can reach tens to hundreds of tons, the support used to move the proton accelerator in the medical treatment system is huge, occupies a lot of space, and is relatively difficult to assemble and control.

[0004] Chinese invention patent CN118925097A discloses a rotating device, which includes a rotating frame and a drive assembly and a gear transmission assembly for driving the rotating frame to rotate. The rotating frame includes a crossbeam and cantilever arms located on both sides of the crossbeam. The crossbeam has mounting portions for mounting particle accelerators. Each cantilever arm is connected to a drive assembly and a gear transmission assembly, so that each cantilever arm can rotate about an axis under the drive of the drive assembly and the gear transmission assembly. A pair of cantilever arms together drive the crossbeam and the particle accelerator mounted on the crossbeam to rotate. To further miniaturize and integrate the rotating device, it is necessary to design a new rotating device. Summary of the Invention

[0005] The purpose of this invention is to provide a rotation positioning device, control method, and treatment system for a particle accelerator, so as to further reduce its size.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] The present invention provides a rotation positioning device for a particle accelerator, comprising at least a first guide member, a second guide member, and a clamping device connected to each other. The first guide member is used to control the clamping device to move along a first direction, the second guide member is used to control the clamping device to move along a second direction, and the clamping device is used to clamp the particle accelerator and cause the particle accelerator to rotate about its (i.e., the particle accelerator's) central axis.

[0008] Wherein, the first direction and the second direction intersect; the first guide and the second guide cooperate to move so that the particle accelerator moves on an arc with the treatment site as the center, and the clamping device controls the particle accelerator to rotate during the movement on the arc so that the output port of the particle accelerator can always face the treatment site when treating the patient.

[0009] A third guide is connected to the first guide and the second guide, and the third guide is used to control the clamping device to move along a third direction; one end of the third guide is rotatably connected to the first guide, and the other end of the third guide is connected to the clamping device; one end of the second guide is slidably connected to the first guide along a first direction, and the other end of the second guide is rotatably connected to the third guide; the second guide, the first guide, and a portion of the third guide form a variable triangle structure, and the first guide, the second guide, and the third guide cooperate to move so that the particle accelerator can move on an arc centered on the treatment site.

[0010] As a further improvement of one embodiment of the present invention, the first direction is a horizontal direction, and the second direction is a vertical direction; the second guide and the third guide are located below the first guide, and the first guide, the second guide, and the third guide cooperate to move, at least causing the particle accelerator to move along a semi-circular arc path away from the opening and away from the rotary positioning device; the upper endpoint of the semi-circular arc in the vertical direction is defined as the first point, the endpoint of the semi-circular arc adjacent to the rotary positioning device in the horizontal direction is defined as the second point, and the lower endpoint of the semi-circular arc in the vertical direction is defined as the third point;

[0011] When the center of the particle accelerator needs to rotate from the first point to the second point around the semi-circular arc, the first guide is controlled to drive the clamping device to move along the first direction away from the treatment site, the second guide is controlled to drive the clamping device to move along the second direction away from the first guide, and the third guide is controlled to drive the clamping device to move along the extension direction of the third guide away from the first guide.

[0012] When the center of the particle accelerator needs to rotate from the second point to the third point around the semicircular arc, the first guide is controlled to drive the clamping device to move along the first direction toward the side closer to the treatment site, the second guide is driven to drive the clamping device to continue moving along the second direction toward the side away from the first guide, and the third guide is driven to drive the clamping device to continue moving along the extension direction of the third guide toward the side away from the first guide.

[0013] As a further improvement of one embodiment of the present invention, the first guide includes a sliding plate, a first guide rail fixed to a building wall, and a first motor system. The first guide rail extends along a first direction, and the first motor system is connected to the sliding plate to drive the sliding plate to move along the first guide rail in the first direction.

[0014] As a further improvement of one embodiment of the present invention, the building wall has a sliding space extending through its upper and lower surfaces, the sliding space extending along a first direction, and the sliding plate sliding within the sliding space;

[0015] The first guide rail is provided in two parallel sections and is fixed to the edge side of the upper surface of the building wall along the extension direction of the sliding space.

[0016] The first guide further includes a plurality of first sliders, which are evenly distributed on both sides of the lower surface of the slide plate along a first direction, and the first sliders are connected to the first guide rail so that the slide plate slides along the first guide rail via the first sliders.

[0017] As a further improvement of one embodiment of the present invention, the first guide member further includes a threaded screw, a fixing block and a bearing connecting the threaded screw, and a connector connecting the fixing block and the building wall;

[0018] The fixing block is fixedly connected to the building wall, and the fixing block is threadedly connected to the threaded rod;

[0019] The threaded screw extends along the first direction, and the bearing is also fixedly connected to the upper surface of the slide plate. The threaded screw is fixed above the slide plate by the bearing. The first motor system is connected to the threaded screw and is used to drive the threaded screw to rotate, so that the threaded screw moves relative to the fixed block along the first direction and drives the slide plate to move along the first direction.

[0020] As a further improvement of one embodiment of the present invention, the second guide member is configured as a first telescopic system, the first telescopic system including a first power part and a first telescopic part connected to each other, the first telescopic part being able to telescopically move relative to the first power part along a second direction;

[0021] A second guide rail is also provided on the lower surface of the skateboard at the position corresponding to the second guide member. The second guide rail extends along the first direction. The end of the first power unit away from the first telescopic part is slidably connected to the second guide rail through the second slider. The end of the first telescopic part away from the first power unit is connected to the third guide member through the first rotating pivot.

[0022] As a further improvement of one embodiment of the present invention, the third guide member is configured as a second telescopic system, the second telescopic system including a second power unit and a second telescopic unit connected to each other, the second telescopic unit being movable relative to the second power unit in a third direction;

[0023] The end of the second power unit away from the second telescopic part is connected to the lower surface of the slide plate through the second rotary pivot, and the end of the second telescopic part away from the second power unit is fixedly connected to the clamping device.

[0024] The end of the first telescopic part that is away from the first power part is connected to the second power part through the first rotating pivot. The third guide member can rotate relative to the second guide member and the first guide member through the first rotating pivot and the second rotating pivot, respectively.

[0025] As a further improvement of one embodiment of the present invention, the clamping device includes a clamping member, a gear assembly, and a second motor system. The clamping member is used to connect the two opposite end faces of the particle accelerator. The gear assembly is disposed between the clamping member and the end faces of the particle accelerator. The second motor system is connected to the gear assembly and is used to drive the gear assembly to rotate, so as to drive the particle accelerator to rotate synchronously around its (i.e., the particle accelerator's) central axis.

[0026] As a further improvement of one embodiment of the present invention, the gear assembly includes a first gear and a second gear that mesh with each other, wherein the size of the first gear is larger than the size of the second gear;

[0027] The first gear is connected to the end face of the particle accelerator, and the second gear is connected to the second motor system. The second motor system is used to drive the second gear to rotate so as to drive the first gear to rotate.

[0028] The present invention also provides a control method for a rotation positioning device, the control method being applied to the rotation positioning device of a particle accelerator as described above, comprising:

[0029] Obtain a preset circular path for the particle accelerator motion, with the treatment site as the center of the circular path;

[0030] The first guide element controls the clamping device to move along a first direction, and the second guide element controls the clamping device to move along a second direction. At least the first guide element and the second guide element work together to make the particle accelerator move on a preset arc path. Furthermore, the clamping device controls the particle accelerator to rotate around its (i.e., the particle accelerator's) central axis during its movement on the preset arc path, so that the particle accelerator's beam outlet can always face the treatment site.

[0031] As a further improvement of one embodiment of the present invention, the control of the clamping device along a first direction by adjusting the first guide member and the control of the clamping device along a second direction by adjusting the second guide member, at least utilizes the cooperative movement of the first guide member and the second guide member to make the particle accelerator move on a preset arc path, specifically including:

[0032] The first guide member controls the clamping device to move along a first direction, the second guide member controls the clamping device to move along a second direction, and the third guide member controls the clamping device to move along a third direction.

[0033] The second guide member, together with a portion of the first guide member and the third guide member, forms a variable triangle structure. The first guide member, the second guide member, and the third guide member cooperate with each other to move the particle accelerator along a preset circular arc path.

[0034] As a further improvement of one embodiment of the present invention, the preset arc path is a semi-circular arc path with its opening facing away from the rotation positioning device. The upper endpoint of the semi-circular arc in the vertical direction is defined as the first point, the endpoint of the semi-circular arc adjacent to the rotation positioning device in the horizontal direction is defined as the second point, and the lower endpoint of the semi-circular arc in the vertical direction is defined as the third point. The first guide member, the second guide member, and the third guide member cooperate to move so that the particle accelerator moves on the preset arc path, specifically including:

[0035] The first guide member drives the clamping device to move along a first direction toward a side away from the treatment site, the second guide member drives the clamping device to move along a second direction toward a side away from the first guide member, and the third guide member drives the clamping device to move along the extension direction of the third guide member toward a side away from the first guide member, so that the center of the particle accelerator rotates from the first point to the second point along the preset arc path;

[0036] The first guide member drives the clamping device to move along a first direction toward the side closer to the treatment site, the second guide member drives the clamping device to continue moving along a second direction toward the side away from the first guide member, and the third guide member drives the clamping device to continue moving along the extension direction of the third guide member toward the side away from the first guide member, so that the center of the particle accelerator rotates from the second point along the preset arc path to the third point.

[0037] As a further improvement of one embodiment of the present invention, the step of controlling the first guide member to drive the clamping device to move along a first direction toward a side away from the treatment site, the second guide member to drive the clamping device to move along a second direction toward a side away from the first guide member, and the third guide member to drive the clamping device to move along the extension direction of the third guide member toward a side away from the first guide member, specifically includes:

[0038] The first motor system controlling the first guide member drives the slide plate to move along the first guide rail toward the side away from the treatment site; the first power unit controlling the second guide member drives the first telescopic part to move along the second direction toward the side away from the first guide member; and the second power unit controlling the third guide member drives the second telescopic part to move along the extension direction of the third guide member toward the side away from the first guide member.

[0039] The first motor system, the first power unit, and the second power unit are driven synchronously to control the center of the particle accelerator to rotate from the first point along the preset arc path to the second point.

[0040] As a further improvement of one embodiment of the present invention, the step of controlling the first guide member to drive the clamping device to move along a first direction toward the side closer to the treatment site, the second guide member to drive the clamping device to continue moving along a second direction toward the side away from the first guide member, and the third guide member to drive the clamping device to continue moving along the extension direction of the third guide member toward the side away from the first guide member, specifically includes:

[0041] The first motor system controlling the first guide member drives the slide plate to move along the first guide rail toward the side closer to the treatment site; the first power unit controlling the second guide member drives the first telescopic part to continue moving along the second direction toward the side away from the first guide member; and the second power unit controlling the third guide member drives the second telescopic part to continue moving along the extension direction of the third guide member toward the side away from the first guide member.

[0042] The first motor system, the first power unit, and the second power unit are driven synchronously to control the center of the particle accelerator to rotate from the second point along the preset arc path to the third point.

[0043] As a further improvement of one embodiment of the present invention, the control of the clamping device to rotate the particle accelerator around its (i.e., the particle accelerator's) central axis during its movement along a preset arc path specifically includes:

[0044] The second motor system controlling the clamping device drives the gear assembly to rotate, thereby causing the particle accelerator to rotate around its (i.e., the particle accelerator's) central axis.

[0045] The present invention also provides a treatment system, including a particle accelerator and a rotation positioning device for the particle accelerator as described above; the rotation positioning device is used to position the particle accelerator.

[0046] Compared with the prior art, the beneficial effects of the present invention include at least the following: The present invention provides a rotational positioning device for a particle accelerator. A first guide member and a second guide member can respectively control a clamping device to move along a first direction and a second direction. The clamping device clamps the particle accelerator and causes the particle accelerator to rotate around its (i.e., the particle accelerator's) central axis. The first and second guide members work together to make the particle accelerator move on an arc centered on the treatment site. Simultaneously, the clamping device can control the rotation of the particle accelerator during its movement on the arc, ensuring that the particle accelerator's beam outlet always faces the treatment site. The rotational positioning device provided by the present invention has the characteristics of simple installation, compact structure, smaller footprint, and simpler operation in practical applications, making proton therapy readily available. Attached Figure Description

[0047] Figure 1 This is a three-dimensional structural schematic diagram of a rotation positioning device for a particle accelerator according to one embodiment of the present invention;

[0048] Figure 2 It corresponds Figure 1 Side view of the central structure (showing the gear assembly);

[0049] Figure 3 It corresponds Figure 1 A three-dimensional structural diagram of the middle structure from another perspective;

[0050] Figure 4 It corresponds Figure 1 Front view of the middle structure;

[0051] Figure 5 It corresponds Figure 1 Rear view of the middle structure;

[0052] Figure 6 This is a side view of a treatment system according to an embodiment of the present invention;

[0053] Figure 7 This is a schematic diagram illustrating the interaction between the first guide element, the second guide element, and the third guide element during the rotational motion along a semi-circular arc of the particle accelerator, as shown in this invention.

[0054] Figure 8 This is a three-dimensional structural diagram of the treatment system according to one embodiment of the present invention;

[0055] Figure 9 This is a three-dimensional structural diagram of the treatment system according to one embodiment of the present invention (the bed board is rotated 180°).

[0056] In the diagram: 1. First guide component; 11. Slide plate; 12. First guide rail; 13. First motor system; 14. First slider; 15. Threaded screw; 16. Fixing block; 17. Bearing; 18. Connecting component; 2. Second guide component; 21. First power unit; 22. First telescopic unit; 23. Second guide rail; 24. Second slider; 3. Third guide component; 31. Second power unit; 32. Second telescopic unit; 4. Clamping device; 41. Clamping component; 411. Clamping surface; 4 12. Connecting surface; 42. Gear assembly; 421. First gear; 422. Second gear; 43. Second motor system; 5. Particle accelerator; 6. Building wall; 61. Sliding space; 71. First rotating hub; 72. Second rotating hub; 8. Treatment bed; 81. Bed board; 82. Support; S. Treatment area; S1. First point; S2. Second point; S3. Third point; AA'. First direction; BB'. Second direction; CC'. Third direction. Detailed Implementation

[0057] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided to make the invention more comprehensive and complete, and to fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore repeated descriptions of them will be omitted.

[0058] The terms used to express position and direction in this invention are illustrated with reference to the accompanying drawings, but changes can be made as needed, and all such changes are included within the scope of protection of this invention.

[0059] Please refer to the following: Figures 1 to 5This invention provides a rotation positioning device for a particle accelerator, comprising at least a first guide member 1, a second guide member 2, and a clamping device 4 connected to each other. The first guide member 1 controls the clamping device 4 to move along a first direction, and the second guide member 2 controls the clamping device 4 to move along a second direction. The clamping device 4 clamps the particle accelerator 5 and causes the particle accelerator 5 to rotate about its own central axis. In this embodiment, the first direction AA' is the extension direction of the center line of the first guide member 1, and the second direction BB' is the extension direction of the center line of the second guide member 2, and the first direction AA' and the second direction BB' intersect.

[0060] The first guide member 1 and the second guide member 2 work together to allow the particle accelerator 5 to move along a full circle or a portion of an arc centered on the area to be treated. The clamping device 4 controls the rotation of the particle accelerator 5 as it moves along the arc, ensuring that the exit beam of the particle accelerator 5 always faces the area to be treated. The area to be treated can coincide with the isocenter of the treatment chamber.

[0061] Furthermore, the rotary positioning device in this embodiment also includes a third guide 3 connecting the first guide 1 and the second guide 2. The third guide 3 is used to control the movement of the clamping device 4 along a third direction CC', where CC' is specifically the extension direction of the center line of the third guide 3. One end of the third guide 3, i.e., the top end, is rotatably connected to the first guide 1. One end of the second guide 2 is slidably connected to the first guide 1 along a first direction AA', and the other end of the second guide 2 is rotatably connected to the second part of the third guide 3. The clamping device 4 is fixed to the other end of the third guide 3, i.e., the bottom end, where the second part is located between the top end and the bottom end.

[0062] Specifically, the first guide 1 can slide along the first direction AA' so that the second guide 2, the third guide 3 and the clamping device 4 move synchronously along the first direction AA'; the second guide 2 can extend and retract along the second direction BB' so that the clamping device 4 moves in the second direction BB'; the third guide 3 can extend and retract along its extension direction (i.e., the third direction CC') so that the clamping device 4 moves back and forth in the extension direction of the third guide 3.

[0063] More specifically, since the upper end of the third guide 3 is rotatably connected to the lower surface of the first guide 1, the third guide 3 can rotate relative to the extending direction of the first guide 1 (i.e., the first direction AA'). Since the upper end of the second guide 2 is connected to the lower surface of the first guide 1 along the first direction AA', the second guide 2 can slide relative to the extending direction of the first guide 1. The lower end of the second guide 2 is rotatably connected to the third guide 3, meaning the third guide 3 is rotatably connected to the lower end of the second guide 2, and the third guide 3 can rotate relative to the extending direction of the second guide 2 (i.e., the second direction BB').

[0064] In this embodiment, the first guide member 1 always moves along the first direction AA', the second guide member 2 extends and retracts along the second direction BB', and the extension direction of the third guide member 3 can be deflected relative to the second direction BB' and the first direction AA' according to the extension and retraction movement of the second guide member 2 along the second direction BB'. When the second guide member 2 extends and retracts along the second direction BB', it can drive the third guide member 3 to rotate relative to the second direction BB' with the connection point between the second guide member 2 and the third guide member 3 as the rotation point, and rotate relative to the first direction AA' with the connection point between the third guide member 3 and the first guide member 1 as the rotation point. At the same time, the upper end of the second guide member 2 slides relative to the first guide member 1 along the first direction AA'. That is, during this movement, the extension length of the second guide member 2 and the distance between the upper end of the second guide member 2 and the third guide member 3 along the first direction will change accordingly, and the degree of inclination of the extension direction of the third guide member 3 will change due to the traction of the second guide member 2.

[0065] Combination Figure 1 and Figure 6 In this embodiment, the second guide member 2, together with a portion of the first guide member 1 and the third guide member 3, forms a variable triangle structure. The coordinated movement of the first guide member 1, the second guide member 2, and the third guide member 3 controls the trajectory of the particle accelerator 5, causing it to move along an arc centered on the treatment area S. The variable triangle structure can be understood as follows: the center lines of the second guide member 2, the first guide member 1, and the third guide member 3 intersect each other, creating three intersection points. Connecting these three intersection points forms a triangle.

[0066] In this embodiment, reference is made to Figure 2The first direction AA' is horizontal, which is parallel to the ceiling of the treatment room. The first guide 1 is used to control the particle accelerator 5 to move horizontally. The second direction BB' is vertical, which is perpendicular to the ceiling of the treatment room. The second guide 2 is used to control the particle accelerator 5 to rotate vertically. The first direction AA' and the second direction BB' are perpendicular to each other. The third direction CC' is a variable direction, and its direction change is related to the extension length of the second guide 2.

[0067] Combination Figure 1 , Figure 6 and Figure 7 The second guide member 2 and the third guide member 3 are located below the first guide member 1. The first guide member 1, the second guide member 2, and the third guide member 3 move in coordination with each other, at least causing the particle accelerator 5 to move along the semi-circular arc of the opening away from the rotating positioning device. The path motion is such that the trajectory of the particle accelerator 5 is at least a 180° semicircle along the vertical direction, with the opening of the semicircle facing away from the rotation positioning device.

[0068] refer to Figure 1 , Figure 2 , Figure 4 and Figure 5 The first guide 1 includes a slide plate 11, a first guide rail 12 fixed to the building wall 6, and a first motor system 13. The first guide rail 12 extends along a first direction AA', and the first motor system 13 is connected to the slide plate 11 to drive the slide plate 11 to move along the first guide rail 12 in the first direction AA'.

[0069] The slide plate 11 is a cuboid structure plate. The length direction of the slide plate 11 is the first direction AA' in this embodiment, and the thickness direction of the slide plate 11 is the second direction BB' in this embodiment. The slide plate 11 includes an upper surface and a lower surface that are opposite each other along its thickness direction. The second guide member 2 and the third guide member 3 are connected to the lower surface of the slide plate 11.

[0070] Of course, the present invention does not limit the specific structural shape and size of the slide plate 11, and can make specific design adjustments according to the actual size of the treatment room and the distance between the building wall 6 and the treatment bed.

[0071] The building wall 6 is the ceiling of the treatment room or a wall parallel to the ceiling of the treatment room. The building wall 6 includes an upper surface and a lower surface opposite each other along its thickness direction. Specifically, the building wall 6 has a sliding space 61 extending through its upper and lower surfaces. The sliding space 61 is a cuboid structure and its length direction extends along a first direction AA'. The sliding plate 11 slides within the sliding space 61.

[0072] Two first guide rails 12 are provided, which are parallel to each other and parallel to the first direction AA', and are respectively fixed to the two edges of the upper surface of the building wall 6 along the extension direction of the sliding space 61. That is, the two first guide rails 12 extend along the first direction AA' and are provided on the upper surface of the building wall 6 and close to the opposite sides of the sliding space 61 along its length. The slide plate 11 is driven by the first motor system 13 and can slide back and forth on the first guide rails 12 along the first direction AA'.

[0073] The first guide member 1 also includes a plurality of first sliders 14, which are evenly distributed on both sides of the lower surface of the slide plate 11 along a first direction. The first sliders 14 are connected to the first guide rail 12, so that the slide plate 11 slides along the first guide rail 12 via the first sliders 14. Specifically, each first slider 14 is internally configured to cooperate with the first guide rail 12.

[0074] Furthermore, the first guide member 1 also includes a threaded screw 15, a fixing block 16, a bearing 17, and a connector 18. The fixing block 16 and the bearing 17 are both connected to the threaded screw 15, and specifically, there are two bearings 17, each engaging with one of the opposite ends of the threaded screw 15, and both bearings 17 are fixedly connected to the slide plate 11. The fixing block 16 is located between the two bearings 17, and is threadedly connected to the threaded screw 15. The connector 18 is used to connect the fixing block 16 and the building wall 6, that is, the fixing block 16 is fixedly connected to the building wall 6 to fix their relative positions. Specifically, the connector 18 is a U-shaped structure, with the middle position of the U-shaped structure connected to the fixing block 16, and the two ends of the U-shaped structure connected to the upper surface of the building wall 6.

[0075] The threaded screw 15 extends along the first direction AA', and two bearings 17 are also fixedly connected to the upper surface of the slide plate 11. The threaded screw 15 is fixed above the slide plate 11 through the bearings 17. That is, when the threaded screw 15 rotates, it will cause the threaded screw 15 and the fixed block 16 that is threadedly engaged with the threaded screw 15 to produce relative linear motion along the extension direction of the threaded screw 15. Since the fixed block 16 is fixed to the building wall 6 through the connector 18, the threaded screw 15 will move along the extension direction of the threaded screw 15 (the first direction AA'). The threaded screw 15 will drive the bearings 17 and the slide plate 11 that are fixed to it to move synchronously along the first direction AA'.

[0076] The first motor system 13 is connected to the threaded screw 15 and is used to drive the threaded screw 15 to rotate, thereby causing the slide plate 11 to move along the first direction AA'. Of course, a corresponding drive gear is also provided between the first motor system 13 and the threaded screw 15. The first motor system 13 specifically includes a pinion reducer and a motor connected to each other. The pinion reducer is connected to the drive gear. That is, by starting the motor, the pinion reducer is driven to run and drive the drive gear to rotate. The rotation of the drive gear causes the threaded screw 15 to rotate synchronously, so that the threaded screw 15 moves along the first direction AA', and drives the bearing 17 and the slide plate 11 to move synchronously along the first direction AA'.

[0077] See Figures 1-3 The second guide 2 is configured as a first telescopic system. The first telescopic system includes a first power unit 21 and a first telescopic unit 22 connected to each other. The first power unit 21 is used to provide driving force to the first telescopic unit 22 so that the first telescopic unit 22 moves telescopically relative to the first power unit 21 in the second direction BB'.

[0078] In this embodiment, the second guide member 2 is a hydraulic cylinder, the first power unit 21 is the main body of the hydraulic cylinder, and the first telescopic part 22 is the piston of the hydraulic cylinder. During the operation of the second guide member 2, the first power unit 21 remains stationary, and the first telescopic part 22 extends or retracts along the second direction BB'.

[0079] A second guide rail 23 is also provided on the lower surface of the slide plate 11 at the position corresponding to the second guide member 2. The second guide rail 23 extends along the first direction AA'. The end of the first power unit 21 away from the first telescopic part 22 is slidably connected to the second guide rail 23 via the second slider 24. The end of the first telescopic part 22 away from the first power unit 21 is connected to the third guide member 3 via the first rotating hub 71. When the first power unit 21 drives the first telescopic part 22 to extend along the second direction BB', the second telescopic system moves along the second guide rail 23 towards the third guide member 3 via the second slider 24; when the first power unit 21 drives the first telescopic part 22 to shorten along the second direction BB', the second telescopic system moves along the second guide rail 23 away from the third guide member 3 via the second slider 24.

[0080] See also Figures 1-3 The third guide 3 is configured as a second telescopic system. The second telescopic system includes a second power unit 31 and a second telescopic unit 32 connected to each other. The second power unit 31 is used to provide driving force to the second telescopic unit 32 so that the second telescopic unit 32 can move relative to the second power unit 31 in a third direction CC'.

[0081] In this embodiment, the third guide member 3 is a hydraulic cylinder, the second power unit 31 is the main body of the hydraulic cylinder, and the second telescopic part 32 is the piston of the hydraulic cylinder. During the operation of the third guide member 3, the second power unit 31 remains stationary, and the second telescopic part 32 extends or retracts along the third direction CC'.

[0082] Specifically, the end of the second power unit 31 that is away from the second telescopic part 32 is connected to the lower surface of the slide plate 11 through the second rotating hub 72, and the end of the second telescopic part 32 that is away from the second power unit 31 is fixedly connected to the clamping device 4.

[0083] More specifically, the end of the first telescopic part 22 that is away from the first power part 21 is connected to the second power part 31 through the first rotating hub 71, and the third guide 3 can rotate relative to the second guide 2 and the first guide 1 through the first rotating hub 71 and the second rotating hub 72 respectively.

[0084] The second power unit 31 of the second guide member 2 and the third guide member 3, along with the slide plate 11 located between the second guide member 2 and the third guide member 3, constitute a variable triangle structure. Since the second guide member 2 slides horizontally and extends vertically while remaining vertical, the resulting variable triangle structure is specifically a variable right-angled triangle structure. Specifically, the two right-angled sides of the variable right-angled triangle correspond to a portion of the slide plate 11 and the second guide member 2, respectively, and the hypotenuse of the variable right-angled triangle corresponds to a portion of the third guide member 3. Furthermore, since the end of the first telescopic part 22 that is away from the first power part 21 is connected to the second power part 31 through the first rotating hub 71, and the length of the second power part 31 remains constant, during the operation of the rotary positioning device, the length of the hypotenuse in the variable triangle structure formed by the first guide 1, the second guide 2, and the third guide 3 remains constant. When the first telescopic part in the second guide 2 extends along the second direction BB', according to the Pythagorean theorem, if the length of the hypotenuse remains constant, and the length of one right-angled side increases, the length of the other right-angled side needs to decrease. That is, the second guide 2 moves along the second guide rail 23 towards the direction closer to the third guide 3 via the second slider 24. At the same time, the third guide 3 rotates flexibly relative to the horizontal and vertical directions via the first rotating hub 71 and the second rotating hub 72. The inclination slope of the third guide 3 will change, that is, the third direction CC' will change.

[0085] The first guide element 1, the second guide element 2, and the third guide element 3 move in coordination, causing the particle accelerator 5 to move along at least a semi-circular arc away from the rotating positioning device. The motion along the path means that the particle accelerator 5 moves at least along a 180° semicircular arc in the vertical direction. Combined with... Figure 6 and Figure 7 The present invention relates to the particle accelerator 5 along a semi-circular arc. The following details how the first guide element 1, the second guide element 2, and the third guide element 3 coordinate with each other during movement:

[0086] semicircle The upper endpoint in the vertical direction is defined as the first point S1, and the semicircular arc... The endpoint adjacent to the rotary positioning device in the horizontal direction is defined as the second point S2, a semi-circular arc. The lower endpoint in the vertical direction is defined as the third point S3.

[0087] For example, when the center of the particle accelerator 5 needs to rotate clockwise from the first point S1 to the second point S2 in a semi-circular arc direction, the first guide member 1 drives the clamping device 4 to move along the first direction AA' towards the side away from the treatment site S, the second guide member 2 drives the clamping device 4 to move along the second direction BB' towards the side away from the first guide member 1, and the third guide member 3 drives the clamping device 4 to move along the extension direction of the third guide member 3 towards the side away from the first guide member 1. (Reference) Figure 7 As the first guide 1, the second guide 2, and the third guide 3 cooperate to rotate the center of the particle accelerator 5 clockwise from the first point S1 around the semicircular arc to the second point S2, the right-angled triangle a1b1c1 gradually transforms into a right-angled triangle a2b2c2. Specifically, activating the first motor system 13 causes the slide plate 11 to move along the first guide rail 12 towards the right side of the diagram, and simultaneously causes the second guide 2, the third guide 3, and the clamping device 4 to move to the right (i.e., Figure 7 The right triangle a2b2c2 is located to the right of the right triangle a1b1c1; the first power unit 21 drives the first telescopic unit 22 to extend downward in the vertical direction (i.e. Figure 7 The length of line segment a2b2 is greater than the length of line segment a1b1), and at the same time, the second guide member 2 moves to the right along the second guide rail 23 (i.e., Figure 7 The length of line segment a2c2 is less than the length of line segment a1c1), and the third guide element 3 deflects around the first rotation pivot 71 and the second rotation pivot 72 (i.e. Figure 7 The middle segment b2c2 deflects counterclockwise relative to segment b1c1; the second power unit 31 drives the second telescopic unit 32 to extend along the third direction CC' (i.e., Figure 7 (The length of line segment b2S2 is greater than the length of line segment b1S1). Of course, when the first motor system 13, the first power unit 21 and the second power unit 31 receive the motion rotation command, they start simultaneously and cooperate to make the center of the particle accelerator 5 rotate clockwise from the first point S1 around the semicircular arc to the second point S2.

[0088] For example, when the center of the particle accelerator 5 needs to rotate clockwise from the second point S2 to the third point S3 in a semi-circular arc direction, the first guide member 1 drives the clamping device 4 to move along the first direction AA' towards the side closer to the treatment site S; the second guide member 2 drives the clamping device 4 to continue moving along the second direction BB' towards the side farther away from the first guide member 1; and the third guide member 3 drives the clamping device 4 to continue moving along the extension direction of the third guide member 3 towards the side farther away from the first guide member 1. (Reference) Figure 7 As the first guide 1, the second guide 2, and the third guide 3 cooperate to rotate the center of the particle accelerator 5 clockwise from the second point S2 around the semicircular arc to the third point S3, the resulting right triangle a2b2c2 gradually transforms into a right triangle a3b3c3. Specifically, activating the first motor system 13 causes the slide plate 11 to move along the first guide rail 12 towards the left side of the diagram, and simultaneously causes the second guide 2, the third guide 3, and the clamping device 4 to move to the left (i.e., ...). Figure 7 The middle right triangle a3b3c3 is located to the left of right triangle a2b2c2; the first power unit 21 drives the first telescopic unit 22 to continue extending downward in the vertical direction (i.e. Figure 7 The length of line segment a3b3 is greater than the length of line segment a2b2), and at the same time, the second guide member 2 continues to move to the right along the second guide rail 23 (i.e., Figure 7 The length of line segment a3c3 is less than the length of line segment a2c2), and the third guide element 3 continues to deflect around the first rotation hub 71 and the second rotation hub 72 (i.e. Figure 7 The middle segment b3c3 deflects counterclockwise relative to segment b2c2; the second power unit 31 drives the second telescopic unit 32 to continue extending along the third direction CC' (i.e., Figure 7 (The length of line segment b3S3 is greater than the length of line segment b2S2). Of course, when the first motor system 13, the first power unit 21 and the second power unit 31 receive the motion rotation command, they start simultaneously and cooperate to make the center of the particle accelerator 5 rotate clockwise from the second point S2 around the semi-circular arc to the third point S3.

[0089] Continue to refer to Figure 1 , Figure 2 , Figure 4 and Figure 5 The clamping device 4 includes a clamping member 41, a gear assembly 42, and a second motor system 43. The clamping member 41 is used to connect the two opposite end faces of the particle accelerator 5. The gear assembly 42 is disposed between the clamping member 41 and the end faces of the particle accelerator 5. The second motor system 43 is connected to the gear assembly 42 and is used to drive the gear assembly 42 to rotate, so as to drive the particle accelerator 5 to rotate synchronously around its (i.e., the particle accelerator 5) central axis.

[0090] Specifically, the clamping member 41 is fixedly connected to the second telescopic portion 32 of the third guide member 3. The clamping member 41 specifically includes two opposing clamping surfaces 411 and a connecting surface 412 connecting the two clamping surfaces 411. An open receiving space is formed between the two clamping surfaces 411 and the connecting surface 412, within which the gear assembly 42 and the particle accelerator 5 are fixed. The clamping member 41 is connected and fixed to the third guide member 3 via its connecting surface 412, and the opposing end faces of the particle accelerator 5 are parallel to the clamping surfaces 411.

[0091] The gear assembly 42 includes a first gear 421 and a second gear 422 that mesh with each other, with the first gear 421 being larger than the second gear 422. Specifically, a set of gear assemblies 42 is provided between the end face and the clamping surface 411 of the particle accelerator 5. The first gear 421 is connected to the end face of the particle accelerator 5, and the second gear 422 is connected to the second motor system 43. The second motor system 43 drives the second gear 422 to rotate, thereby rotating the first gear 421, ultimately enabling the particle accelerator 5 to rotate around its central axis. Alternatively, a rotary bearing can be provided inside the first gear 421, through which the first gear 421 connects to the end face of the particle accelerator 5 and drives the particle accelerator 5 to rotate.

[0092] When controlling the particle accelerator 5 to move along an arc centered on the treatment site S, the second motor system 43 can be activated in real time, so that the particle accelerator 5 can continuously rotate itself during the movement around the arc, ensuring that the outlet of the particle accelerator 5 always faces the treatment site S.

[0093] The second motor system 43 specifically includes a pinion gear reducer and a motor connected to each other. The pinion gear reducer is connected to a second gear 422. That is, by starting the motor, the pinion gear reducer is driven to rotate, which in turn drives the second gear 422 to rotate. The second gear 422 drives the first gear 421 to rotate, thereby enabling the particle accelerator 5 to rotate synchronously. Through the above-described embodiments, this invention makes the structure of the rotation positioning device used in conjunction with the particle accelerator 5 more compact, conforming to the trend of further miniaturization and integration.

[0094] The present invention also provides a control method for the aforementioned rotation positioning device, wherein the control method is applied to the rotation positioning device of the particle accelerator described in any of the above embodiments. The control method of the present invention includes:

[0095] Step S1: Obtain the preset path of the arc or the entire circle of the particle accelerator's motion, with the treatment area as the center. The arc is a part of the entire circle.

[0096] Step S2: Adjust the first guide to control the clamping device to move along the first direction and adjust the second guide to control the clamping device to move along the second direction. At least the first guide and the second guide work together to make the particle accelerator move on a preset arc or a complete circle. And adjust the clamping device to control the particle accelerator to rotate around its (i.e., the particle accelerator's) central axis during the movement on the preset arc or the complete circle, so that the particle accelerator's output beam always faces the treatment site.

[0097] Specifically, step S2, "regulating the first guide to control the clamping device to move along the first direction and regulating the second guide to control the clamping device to move along the second direction, at least utilizing the coordinated movement of the first and second guides to make the particle accelerator move along a preset arc or the entire circle," specifically includes:

[0098] Step S2': The first guide element is adjusted to control the clamping device to move along a first direction; the second guide element is adjusted to control the clamping device to move along a second direction; and the third guide element is adjusted to control the clamping device to move along a third direction. The second guide element, along with portions of the first and third guide elements, forms a variable triangle structure, and the first, second, and third guide elements cooperate to move the particle accelerator along a predetermined circular arc path.

[0099] Specifically, in combination Figure 6 and Figure 7 The preset arc path is a semi-circular arc path with the opening facing away from the rotary positioning device. semicircle The upper endpoint in the vertical direction is defined as the first point S1, and the semicircular arc... The endpoint adjacent to the rotary positioning device in the horizontal direction is defined as the second point S2, a semi-circular arc. The lower endpoint in the vertical direction is defined as the third point S3. Then, step S2', where "the first guide, the second guide, and the third guide cooperate to move so that the particle accelerator moves along a preset circular arc path," specifically includes:

[0100] The first guide member 1 drives the clamping device 4 to move along the first direction AA' toward the side away from the treatment site S. The second guide member 2 drives the clamping device 4 to move along the second direction BB' toward the side away from the first guide member 1. The third guide member 3 drives the clamping device 4 to move along the extension direction of the third guide member 3 toward the side away from the first guide member 1, so that the center of the particle accelerator 5 rotates from the first point S1 to the second point S2 along a preset arc path.

[0101] The first guide member 1 drives the clamping device 4 to move along the first direction AA' toward the side closer to the treatment site S. The second guide member 2 drives the clamping device 4 to continue moving along the second direction BB' toward the side away from the first guide member 1. The third guide member 3 drives the clamping device 4 to continue moving along the extension direction of the third guide member 3 toward the side away from the first guide member 1, so that the center of the particle accelerator 5 rotates from the second point S2 along a preset arc path to the third point S3.

[0102] Referring to the specific structure of the rotary positioning device provided by the present invention, see below. Figures 1-3 ,as well as Figure 6 Further explanation is provided for "causing the center of the particle accelerator to rotate from the first point along a preset arc path to the second point" and "causing the center of the particle accelerator to rotate from the second point along a preset arc path to the third point":

[0103] When it is necessary to rotate the center of the particle accelerator 5 from the first point S1 to the second point S2 along a preset arc path, the first motor system 13 of the first guide member 1 drives the slide plate 11 to move along the first guide rail 12 toward the side away from the treatment site S, the first power unit 21 of the second guide member 2 drives the first telescopic part 22 to move along the second direction BB' toward the side away from the first guide member 1, and the second power unit 31 of the third guide member 3 drives the second telescopic part 32 to move along the extension direction of the third guide member 3 toward the side away from the first guide member 1.

[0104] Of course, during this process, the first guide 1, the second guide 2 and the third guide 3 are driven synchronously, that is, the first motor system 13, the first power unit 21 and the second power unit 31 are driven synchronously to control the center of the particle accelerator 5 to rotate from the first point S1 along the preset arc path to the second point S2.

[0105] Of course, during this process, the second motor system 43 of the clamping device 4 can also be driven synchronously, so that the particle accelerator 5 rotates around its (i.e., the particle accelerator 5) central axis during its movement on the preset arc path, so as to ensure that the outlet of the particle accelerator 5 always faces the treatment site S.

[0106] When it is necessary to rotate the center of the particle accelerator 5 from the second point S2 to the third point S3 along a preset arc path, the first motor system 13 of the first guide member 1 drives the slide plate 11 to move along the first guide rail 12 toward the side closer to the treatment site S, the first power unit 21 of the second guide member 2 drives the first telescopic part 22 to continue moving along the second direction BB' toward the side away from the first guide member 1, and the second power unit 31 of the third guide member 3 drives the second telescopic part 32 to continue moving along the extension direction of the third guide member 3 toward the side away from the first guide member 1.

[0107] Of course, during this process, the first guide 1, the second guide 2 and the third guide 3 are driven synchronously, that is, the first motor system 13, the first power unit 21 and the second power unit 31 are driven synchronously to control the center of the particle accelerator 5 to rotate from the second point S2 along the preset arc path to the third point S3.

[0108] Of course, during this process, the second motor system 43 of the clamping device 4 is also driven synchronously, so that the particle accelerator 5 rotates around its (i.e., the particle accelerator 5) central axis during its movement on the preset arc path, so as to ensure that the outlet of the particle accelerator 5 always faces the treatment site S.

[0109] More specifically, step S2, "controlling the clamping device to control the particle accelerator to rotate around its central axis during its movement along a preset circular arc path," specifically includes:

[0110] The second motor system 43 of the control clamping device 4 drives the gear assembly 42 to rotate, thereby causing the particle accelerator 5 to rotate around its (i.e., particle accelerator 5) central axis, so that the particle accelerator 5 always rotates around its (i.e., particle accelerator 5) central axis during its movement on the preset arc path, so as to ensure that the outlet of the particle accelerator 5 always faces the treatment site S.

[0111] The present invention also provides a treatment system, see below. Figure 6 , Figure 8 and Figure 9 The treatment system includes a particle accelerator 5, a treatment bed 8, and a rotational positioning device for the particle accelerator as described in any of the above embodiments. The treatment site S is located at the isocenter of the treatment system. The particle accelerator 5 may be a proton accelerator.

[0112] The treatment bed 8 includes a bed board 81 and a support 82 for supporting the bed board 81. The bed board 81 can rotate 180° relative to the support 82 on the plane where the bed board 81 is located, and the bed board 81 can move relative to the support 82.

[0113] It should be noted that the rotating positioning device in this embodiment will be installed in the building wall of the treatment room in actual application. Therefore, the arc path of the rotation of the particle accelerator 5 is relatively fixed. That is, the center and radius of the arc or the whole circle of the rotation of the particle accelerator 5 in this embodiment are generally fixed. In other words, when radiotherapy is required, the bed board 81 can be moved to the fixed treatment position.

[0114] For example, see Figure 8The bed board 81 is used for patients who need radiotherapy to lie down. For example, if a patient needs to receive radiotherapy to the head, it is only necessary to ensure that the patient's head is located at point S on the bed board 81 and control the rotation positioning device to start. Radiotherapy is then performed on the right side of the patient's head within a vertical rotation range of 180° or more, making the angle of radiotherapy more flexible and ensuring a better treatment experience.

[0115] For example, see Figure 9 If radiation therapy is still needed on the left side of the patient's head, then only the... Figure 8 The bed board 81 is rotated 180° on the plane, and then the bed board 81 is moved relative to the support 82 so that the patient's head is still located at point S on the bed board 81.

[0116] In summary, this invention provides a rotational positioning device for a particle accelerator. The first and second guide members can respectively control the clamping device to move along a first direction and a second direction. The clamping device clamps the particle accelerator and causes it to rotate around its central axis. The coordinated movement of the first, second, and third guide members allows the particle accelerator to move along an arc centered on the treatment area. Simultaneously, the clamping device is closer to the particle accelerator and its isocenter, making it easier to control the particle accelerator's rotation during movement along arcs with smaller radii or the entire circle, ensuring that the particle accelerator's output beam always faces the treatment area. The rotational positioning device provided by this invention has a compact structure and can be installed on a building wall, featuring simple installation, small size, and less space requirements. In practical applications, the operation of the rotational positioning device is also simpler.

[0117] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the invention without departing from the principles and spirit of the invention, and all such changes should fall within the protection scope of the claims of the present invention.

Claims

1. A rotation positioning device for a particle accelerator, characterized in that, It includes at least: a first guide member, a second guide member, and a clamping device connected to each other. The first guide member controls the clamping device to move along a first direction, and the second guide member controls the clamping device to move along a second direction. The clamping device clamps a particle accelerator and allows the particle accelerator to rotate about its central axis. The first direction and the second direction intersect. The first guide member and the second guide member cooperate to move the particle accelerator on an arc centered on the treatment area. The clamping device controls the particle accelerator to rotate during its movement on the arc so that the particle accelerator's exit beam always faces the treatment area. A third guide is connected to the first guide and the second guide, and the third guide is used to control the clamping device to move along a third direction; one end of the third guide is rotatably connected to the first guide, and the other end of the third guide is connected to the clamping device; one end of the second guide is slidably connected to the first guide along a first direction, and the other end of the second guide is rotatably connected to the third guide; The second guide member, together with a portion of the first guide member and the third guide member, forms a variable right-angled triangle structure. The first guide member, the second guide member, and the third guide member move in coordination with each other, enabling the particle accelerator to move on an arc centered on the treatment area. The first guide member, the second guide member, and the third guide member move in coordination with each other, at least causing the particle accelerator to move along a semi-circular arc path with the opening away from the rotary positioning device. The second guide member is configured as a first telescopic system, which includes a first power unit and a first telescopic unit connected to each other. The first telescopic unit can telescopically move relative to the first power unit in a second direction. The third guide member is configured as a second telescopic system, which includes a second power unit and a second telescopic unit connected to each other. The second telescopic unit can move relative to the second power unit in a third direction.

2. The rotation positioning device for a particle accelerator according to claim 1, characterized in that, The first direction is horizontal, and the second direction is vertical; the second guide and the third guide are located below the first guide; the upper endpoint of the semicircular arc in the vertical direction is defined as the first point, the endpoint of the semicircular arc adjacent to the rotary positioning device in the horizontal direction is defined as the second point, and the lower endpoint of the semicircular arc in the vertical direction is defined as the third point. When the center of the particle accelerator needs to rotate from the first point to the second point around the semi-circular arc, the first guide is controlled to drive the clamping device to move along the first direction away from the treatment site, the second guide is controlled to drive the clamping device to move along the second direction away from the first guide, and the third guide is controlled to drive the clamping device to move along the extension direction of the third guide away from the first guide. When the center of the particle accelerator needs to rotate from the second point to the third point around the semicircular arc, the first guide is controlled to drive the clamping device to move along the first direction toward the side closer to the treatment site, the second guide is driven to drive the clamping device to continue moving along the second direction toward the side away from the first guide, and the third guide is driven to drive the clamping device to continue moving along the extension direction of the third guide toward the side away from the first guide.

3. The rotation positioning device for a particle accelerator according to claim 1, characterized in that, The first guide includes a sliding plate, a first guide rail fixed to the building wall, and a first motor system. The first guide rail extends along a first direction, and the first motor system is connected to the sliding plate to drive the sliding plate to move along the first guide rail in the first direction.

4. The rotation positioning device for a particle accelerator according to claim 3, characterized in that, The building wall has a sliding space that extends through its upper and lower surfaces, the sliding space extending along a first direction, and the sliding plate sliding within the sliding space; The first guide rail is provided in two parallel sections and is fixed to the edge side of the upper surface of the building wall along the extension direction of the sliding space. The first guide further includes a plurality of first sliders, which are evenly distributed on both sides of the lower surface of the slide plate along a first direction, and the first sliders are connected to the first guide rail so that the slide plate slides along the first guide rail via the first sliders.

5. The rotation positioning device for a particle accelerator according to claim 4, characterized in that, The first guide component further includes a threaded screw, a fixing block and a bearing connected to the threaded screw, and a connector connecting the fixing block and the building wall; The fixing block is fixedly connected to the building wall, and the fixing block is threadedly connected to the threaded rod; The threaded screw extends along the first direction, and the bearing is also fixedly connected to the upper surface of the slide plate. The threaded screw is fixed above the slide plate by the bearing. The first motor system is connected to the threaded screw and is used to drive the threaded screw to rotate, so that the threaded screw moves relative to the fixed block along the first direction and drives the slide plate to move along the first direction.

6. The rotation positioning device for a particle accelerator according to claim 3, characterized in that, A second guide rail is also provided on the lower surface of the skateboard at the position corresponding to the second guide member. The second guide rail extends along the first direction. The end of the first power unit away from the first telescopic part is slidably connected to the second guide rail through the second slider. The end of the first telescopic part away from the first power unit is connected to the third guide member through the first rotating pivot.

7. The rotation positioning device for a particle accelerator according to claim 6, characterized in that, The end of the second power unit away from the second telescopic part is connected to the lower surface of the slide plate through the second rotary pivot, and the end of the second telescopic part away from the second power unit is fixedly connected to the clamping device. The end of the first telescopic part that is away from the first power part is connected to the second power part through the first rotating pivot. The third guide member can rotate relative to the second guide member and the first guide member through the first rotating pivot and the second rotating pivot, respectively.

8. The rotation positioning device for a particle accelerator according to claim 1, characterized in that, The clamping device includes a clamping member, a gear assembly, and a second motor system. The clamping member is used to connect the two opposite ends of the particle accelerator. The gear assembly is disposed between the clamping member and the end faces of the particle accelerator. The second motor system is connected to the gear assembly and is used to drive the gear assembly to rotate, thereby causing the particle accelerator to rotate synchronously around its central axis.

9. A control method for a rotation positioning device of a particle accelerator, characterized in that, The control method employs the rotational positioning device for a particle accelerator as described in any one of claims 1-8, comprising: Obtain a preset circular arc path of particle accelerator motion, with the treatment site as the center of the circular arc path; The first guide element controls the clamping device to move along a first direction, and the second guide element controls the clamping device to move along a second direction. At least the first guide element and the second guide element work together to make the particle accelerator move on a preset arc path. Furthermore, the clamping device controls the particle accelerator to rotate around its central axis during its movement on the preset arc path, so that the exit port of the particle accelerator can always face the treatment site.

10. The control method for the rotation positioning device of the particle accelerator according to claim 9, characterized in that, The control of the first guide member to move the clamping device along a first direction and the control of the second guide member to move the clamping device along a second direction, at least by utilizing the coordinated movement of the first guide member and the second guide member to make the particle accelerator move along a preset circular arc path, specifically including: The first guide member controls the clamping device to move along a first direction, the second guide member controls the clamping device to move along a second direction, and the third guide member controls the clamping device to move along a third direction. The second guide member, together with a portion of the first guide member and the third guide member, forms a variable right-angled triangle structure. The first guide member, the second guide member, and the third guide member cooperate with each other to make the particle accelerator move on a preset circular arc path.

11. The control method for the rotation positioning device of the particle accelerator according to claim 10, characterized in that, The preset arc path is a semi-circular arc path with its opening facing away from the rotation positioning device. The upper endpoint of the semi-circular arc in the vertical direction is defined as the first point, the endpoint of the semi-circular arc adjacent to the rotation positioning device in the horizontal direction is defined as the second point, and the lower endpoint of the semi-circular arc in the vertical direction is defined as the third point. The first guide, the second guide, and the third guide cooperate to move so that the particle accelerator moves along the preset arc path, specifically including: The first guide member drives the clamping device to move along a first direction toward a side away from the treatment site, the second guide member drives the clamping device to move along a second direction toward a side away from the first guide member, and the third guide member drives the clamping device to move along the extension direction of the third guide member toward a side away from the first guide member, so that the center of the particle accelerator rotates from the first point to the second point along the preset arc path; The first guide member drives the clamping device to move along a first direction toward the side closer to the treatment site, the second guide member drives the clamping device to continue moving along a second direction toward the side away from the first guide member, and the third guide member drives the clamping device to continue moving along the extension direction of the third guide member toward the side away from the first guide member, so that the center of the particle accelerator rotates from the second point along the preset arc path to the third point.

12. The control method for the rotation positioning device of the particle accelerator according to claim 11, characterized in that, The control of the first guide member to drive the clamping device to move along a first direction toward a side away from the treatment site, the second guide member to drive the clamping device to move along a second direction toward a side away from the first guide member, and the third guide member to drive the clamping device to move along the extension direction of the third guide member toward a side away from the first guide member, specifically includes: The first motor system controlling the first guide member drives the slide plate to move along the first guide rail toward the side away from the treatment site; the first power unit controlling the second guide member drives the first telescopic part to move along the second direction toward the side away from the first guide member; and the second power unit controlling the third guide member drives the second telescopic part to move along the extension direction of the third guide member toward the side away from the first guide member. The first motor system, the first power unit, and the second power unit are driven synchronously to control the center of the particle accelerator to rotate from the first point along the preset arc path to the second point.

13. The control method for the rotation positioning device of the particle accelerator according to claim 11, characterized in that, The control of the first guide member to drive the clamping device to move along a first direction toward the side closer to the treatment site, the second guide member to drive the clamping device to continue moving along a second direction toward the side away from the first guide member, and the third guide member to drive the clamping device to continue moving along the extension direction of the third guide member toward the side away from the first guide member, specifically includes: The first motor system controlling the first guide member drives the slide plate to move along the first guide rail toward the side closer to the treatment site; the first power unit controlling the second guide member drives the first telescopic part to continue moving along the second direction toward the side away from the first guide member; and the second power unit controlling the third guide member drives the second telescopic part to continue moving along the extension direction of the third guide member toward the side away from the first guide member. The first motor system, the first power unit, and the second power unit are driven synchronously to control the center of the particle accelerator to rotate from the second point along the preset arc path to the third point.

14. The control method for the rotation positioning device of the particle accelerator according to claim 9, characterized in that, The control of the clamping device to rotate the particle accelerator around its central axis during its movement along a preset circular arc path specifically includes: The second motor system controlling the clamping device drives the gear assembly to rotate, thereby causing the particle accelerator to rotate around its central axis.

15. A treatment system, characterized in that, It includes a particle accelerator and a rotational positioning device for the particle accelerator as described in any one of claims 1-8, the rotational positioning device being used to position the particle accelerator.

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